Grant Agreement Number: 731993 Project acronym: AUTOPILOT Project full title: AUTOmated driving Progressed by Internet Of Things D.1.2 Final Specification of IoT-enabled Autonomous Driving use cases Due delivery date: 30/09/2019 Actual delivery date: 20/09/2019 Organization name of lead participant for this deliverable: TNO Dissemination level PU Public X PP Restricted to other programme participants (including the Commission Services) Restricted to a group specified by the consortium (including the Commission RE Services) Confidential, only for members of the consortium (including the Commission CO Services) This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 731993. Document Control Sheet Deliverable number: D1.2 Deliverable responsible: TNO Workpackage: WP1, Task1.1 Editor: Emi Mathews, Antoine Schmeitz, and Sven Jansen - TNO Author(s) – in alphabetical order Name Organisation E-mail Alen, Silvia CTAG [email protected] Alvarez, Manuel PSA [email protected] Cabrero Barros, Sergio IBMIE [email protected] Chapuis, Cédric Continental [email protected] Copel, Délia VGP [email protected] David, Martin GEM [email protected] Falcitelli, Mariano CNIT [email protected] Ioannis Gkragkopoulos CERTH/HIT [email protected] Jansen, Sven TNO [email protected] Kahale, Elie AKKA [email protected] Kostas Kalogirou CERTH/HIT [email protected] Kaul, Robert DLR [email protected] Marcasuzaa, Herve VCDA [email protected] Martínez, José Manuel CTAG [email protected] Mathews, Emi TNO [email protected] Monroy, Manuel VIGO [email protected] Nikolaou, Stella CERTH [email protected] Ouden, Jos den TUEIN [email protected] Petrescu, Alexandre CEA [email protected] jean-francois.simeon@continental- Simeon, Jean-François CONTI corporation.com Schmeitz, Antoine TNO [email protected] Schreiner, Floriane VED [email protected] Scholliers, Johan VTT [email protected] Simonetto, Andrea IBMIE [email protected] Teerhuis, Arjan TNO [email protected] Touko Tcheumadjeu, Louis C. DLR [email protected] Van den Ende, A.H. Bram TNO [email protected] Vivero, Antonio VIGO [email protected] Zougari, Sadeq AKKA [email protected] Document Revision History Version Date Modifications Introduced Modification Reason Modified by V0.1 13/05/2019 First draft requesting contributions E. Mathews V0.4 31/05/2019 Frist integrated version with E. Mathews, pilot site and use contributions from pilot site and case leaders 2 use case leaders V0.5 21/06/2019 Revised version with missing E. Mathews contributions V0.6 24/06/2019 Document for internal review R. Kaul and S. Nikolaou V0.8 22/07/2019 Revisions following review Pilot site and use case leaders V0.9 30/07/2019 Revised and integrated version E. Mathews and A. Petrescu V1.0 22/08/2019 Final version R. Bhandari Abstract This document presents the final specification of use cases aimed to assess the potential of Internet of Things for enhancement and enabling of Automated Driving. A description of the use cases is provided for five European pilot sites and the Korean pilot site, each offering specific scenarios of interest. The potential of the Internet of Things to progress Automated Driving beyond the state of the art is explained by way of hypotheses on the impact of IoT on these use cases along with a set of performance indicators to evaluate them. The document is based on the experience gained during the realisation of the project, as well as from the piloting activities. Legal Disclaimer The information in this document is provided “as is”, and no guarantee or warranty is given that the information is fit for any particular purpose. The above referenced consortium members shall have no liability to third parties for damages of any kind including without limitation direct, special, indirect, or consequential damages that may result from the use of these materials subject to any liability which is mandatory due to applicable law. © 2019 by AUTOPILOT Consortium. 3 Abbreviations and Acronyms Acronym Definition (C-)ITS (Cooperative) Intelligent Transport Systems ACC Adaptive Cruise Control AD Automated Driving ADAS Advanced Driver Assistance Systems ADS Automated Driving System AVP Automated Valet Parking BLE Bluetooth Low Energy BT Bluetooth CACC Cooperative Adaptive Cruise Control CAM Cooperative Awareness Message CeH Connected Electronic Horizon DDT Dynamic Driving Task DITCM Dutch Integrated Testsite Cooperative Mobility DENM Decentralized Environmental Notification Message DMAG Data Modelling Activity Group in AUTOPILOT ETSI European Telecommunications Standards Institute FCA Fiat Chrysler Automobiles GA Grant Agreement GPS Global Positioning System HMI Human machine interface ICAO International Civil Aviation Organization IoT Internet of Things ISI Intersection Safety Information ISS Image Sensing System ITS Intelligent Transport Systems LIDAR Light Detection And Ranging LDM Local Dynamic Map MAP Map Data NAHSC National Automated Highway Systems Consortium OBU On-board Unit ODD Operational Design Domain OEDR Object and Event Detection and Response PoI Point of Interest PS Pilot Site QoS Quality of Service RADAR RAdio Detection And Ranging RFID Radio-Frequency Identification RHW Road Hazard Warning RSU Road Side Unit SAE Society of Automotive Engineers SAREF Smart Appliances REFerence SPat Signal Phase and Timing TLA Traffic Light Assist TCC Traffic Control Centre V2I/V2V/V2X Vehicle to Infrastructure / Vehicle / Everything VMS Variable Message Sign 4 VRU Vulnerable Road User (e.g. pedestrian, cyclist) WEF World Economic Forum WM World Model WP Work Package Table of Contents Executive Summary .................................................................................................................... 12 1 Introduction ........................................................................................................................ 14 1.1 Internet of Things (IoT) ......................................................................................................... 14 1.2 Purpose of the document ..................................................................................................... 14 1.3 Intended audience ................................................................................................................ 15 1.4 Definitions ............................................................................................................................. 15 1.5 Process .................................................................................................................................. 17 1.6 Outline of Document ............................................................................................................ 18 2 Specification of building blocks of IoT-enabled Autonomous Driving Use Cases ..................... 19 2.1 Automated Driving Modes .................................................................................................... 19 2.1.1 Automated Valet Parking .................................................................................................. 19 2.1.1.1 Function Description .............................................................................................................. 19 2.1.1.2 State of the Art ....................................................................................................................... 20 2.1.2 Highway Pilot .................................................................................................................... 21 2.1.2.1 Function Description .............................................................................................................. 21 2.1.2.2 State of the Art ....................................................................................................................... 22 2.1.3 Platooning ......................................................................................................................... 24 2.1.3.1 Function Description .............................................................................................................. 24 2.1.3.2 State of the Art ....................................................................................................................... 25 2.1.4 Urban Driving .................................................................................................................... 28 2.1.4.1 Function Description .............................................................................................................. 28 2.1.4.2 State of the Art ....................................................................................................................... 28 2.2 Services for AD vehicles ........................................................................................................ 31 2.2.1 Real-Time Ride sharing...................................................................................................... 31 2.2.1.1 Function Description .............................................................................................................. 31 2.2.1.2 State of the Art ....................................................................................................................... 32 2.2.2 Driverless car rebalancing ................................................................................................. 35 2.2.2.1 Function